ken fuji / T_motor

田中くんのモタドラを制御する石本さんのやつ

T_motor.cpp@3:a3be8ae9fed1, 2017-08-21 (annotated)

Committer:
fujikenac
Date:
Mon Aug 21 04:31:39 2017 +0000
Revision:
3:a3be8ae9fed1
Parent:
2:f82a7c0b697f
Child:
4:8c674d9893ad
fix sqrt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:e10d08530490 1 #include "mbed.h"
fujikenac 0:e10d08530490 2 #include "T_motor.h"
fujikenac 0:e10d08530490 3
fujikenac 0:e10d08530490 4 void T_motor::setAddr(int addr_)
fujikenac 0:e10d08530490 5 {
fujikenac 0:e10d08530490 6 addr = addr_;
fujikenac 0:e10d08530490 7 }
fujikenac 0:e10d08530490 8
fujikenac 0:e10d08530490 9 void T_motor::init(char addr,int freq = 100000)
fujikenac 0:e10d08530490 10 {
fujikenac 0:e10d08530490 11 setAddr(addr);
fujikenac 0:e10d08530490 12 i2c.frequency(freq);
fujikenac 0:e10d08530490 13 char d = 0;
fujikenac 0:e10d08530490 14 i2c.write((addr+1) << 1,&d,1);
fujikenac 0:e10d08530490 15 wait(0.01);
fujikenac 0:e10d08530490 16 }
fujikenac 0:e10d08530490 17
fujikenac 0:e10d08530490 18 T_motor::T_motor(PinName sda,PinName scl,int addr):i2c(sda,scl)
fujikenac 0:e10d08530490 19 {
fujikenac 0:e10d08530490 20 init(addr);
fujikenac 0:e10d08530490 21 }
fujikenac 0:e10d08530490 22
fujikenac 0:e10d08530490 23 T_motor::T_motor(I2C& i2c_,int addr):i2c(i2c_)
fujikenac 0:e10d08530490 24 {
fujikenac 0:e10d08530490 25 init(addr);
fujikenac 0:e10d08530490 26 }
fujikenac 0:e10d08530490 27
fujikenac 1:5bd161b83ce0 28 T_motor& T_motor::operator=(float fval)// -1 <= fval <= 1
fujikenac 0:e10d08530490 29 {
fujikenac 0:e10d08530490 30 if(fabs(fval) < 0.1f)free();
fujikenac 0:e10d08530490 31 else {
fujikenac 3:a3be8ae9fed1 32 if(fval < 0) run(1,char(-1*sqrt(fval)*255));
fujikenac 3:a3be8ae9fed1 33 else if(fval > 0) run(0,char(sqrt(fval)*255));
fujikenac 0:e10d08530490 34 }
fujikenac 0:e10d08530490 35 return *this;
fujikenac 0:e10d08530490 36 }
fujikenac 0:e10d08530490 37
fujikenac 1:5bd161b83ce0 38 void T_motor::control(float fval)//copy from operator
fujikenac 1:5bd161b83ce0 39 {
fujikenac 1:5bd161b83ce0 40 if(fabs(fval) < 0.1f)free();
fujikenac 1:5bd161b83ce0 41 else {
fujikenac 3:a3be8ae9fed1 42 if(fval < 0) run(1,char(-1*sqrt(fval)*255));
fujikenac 3:a3be8ae9fed1 43 else if(fval > 0) run(0,char(sqrt(fval)*255));
fujikenac 1:5bd161b83ce0 44 }
fujikenac 1:5bd161b83ce0 45 }
fujikenac 1:5bd161b83ce0 46
fujikenac 0:e10d08530490 47 bool T_motor::run(char mode,char speed)
fujikenac 0:e10d08530490 48 {
fujikenac 0:e10d08530490 49 bool f = 0;
fujikenac 0:e10d08530490 50 char d = speed;
fujikenac 0:e10d08530490 51
fujikenac 0:e10d08530490 52 if(mode == 0 || mode == 1)f = i2c.write((addr+mode) << 1,&d,1);
fujikenac 0:e10d08530490 53 wait(0.01);
fujikenac 0:e10d08530490 54 return f;
fujikenac 0:e10d08530490 55 }
fujikenac 0:e10d08530490 56
fujikenac 0:e10d08530490 57 bool T_motor::stop()
fujikenac 0:e10d08530490 58 {
fujikenac 0:e10d08530490 59 return run(1,0);
fujikenac 0:e10d08530490 60 }
fujikenac 0:e10d08530490 61
fujikenac 0:e10d08530490 62 bool T_motor::free()
fujikenac 0:e10d08530490 63 {
fujikenac 0:e10d08530490 64 return run(0,0);
fujikenac 0:e10d08530490 65 }
fujikenac 0:e10d08530490 66